The problem of adaptive control in a living system or how to acquire an inverse model without the help of an external teacher. - Karl-Theodor Kalveram; Thomas Schinauer (ESANN, 2002)

Threading neural feedforward into a mechanical spring: How biology exploits physics in limb control. - Karl-Theodor Kalveram; Thomas Schinauer; Steffen Beirle; Stefanie Richter; Petra Jansen-Osmann (Biol. Cybern., 2005)